摘要
为了解决三维柔性触觉传感器的静态标定问题,本文对三维柔性触觉传感器标定的特殊性以及采用砝码标定法标定三维触觉传感器时标定装置中的静摩擦力引起的误差进行了分析,提出了基于六维力测量来标定三维触觉传感器的方法,研制了一种基于六维力测量的气浮式标定平台;该平台采用气浮的方法将一个矩形六面体结构的浮板完全浮起,通过测量每组气浮承压腔内的压力来求取作用在浮板上沿X、Y、Z坐标轴方向的外力和绕X、Y、Z坐标轴方向的外力矩;给出了作用在标定平台表面上任意力的大小、方向和作用点坐标的计算公式。实测数据表明,研制的气浮式标定平台性能可满足三维柔性触觉传感器的静态标定要求。
In order to calibrate three-dimensional force flexible tactile sensor,this paper analyzes the specialties in calibrating three-dimensional force flexible tactile sensor and the calibration error caused by the calibration device using standard weight method,and presents a new approach for calibrating three-dimensional force flexible tactile sensor based on six-axis force/moment measurement.A set of air-suspending six-axis force/ moment table was developed based on this research.In the table,a floating plate of rectangular hexahedron is completely floated with gas float method;the compound forces and compound moments along coordinate axes X,Y,Z are obtained from measuring the changes of pressure difference in every group air nozzle pressure cavity.The formulas of calculating an arbitrary force on the table are presented.Measured data show that the performance of the calibration table is able to meet the requirements of three-dimensional force flexible tactile sensor static calibration.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2010年第9期2003-2009,共7页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(60672024)
国家863计划(2007AA04Z220)资助项目
关键词
三维柔性触觉传感器
标定平台
六维力测量
three-dimensional force flexible tactile sensor
calibration table
six-dimensional force measurement
